d545f746bc
* Add EDA Education Board Configuration - Add eda-tv-pro Board Configuration - Add eda-robot-pro Board Configuration - Add eda-super-bear Board Configuration * docs(oscillator): Add file headers with copyright and license information - Add comprehensive file headers to oscillator.cc and oscillator.h in eda-robot-pro board - Add comprehensive file headers to oscillator.cc and oscillator.h in eda-super-bear board - Include original author attribution (Juan Gonzalez-Gomez/Obijuan) and ESP32 port credit (txp666) - Include GPL license notice and file descriptions for clarity and compliance * fix: Move the eda* boards to the lceda-course-examples folder. - Move eda-robot-pro, eda-super-bear, and eda-tv-pro boards to lceda-course-examples subdirectory - Update CMakeLists.txt to set MANUFACTURER variable for each board configuration
91 lines
2.6 KiB
C++
91 lines
2.6 KiB
C++
#ifndef __EDA_DOG_MOVEMENTS_H__
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#define __EDA_DOG_MOVEMENTS_H__
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#include "driver/gpio.h"
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#include "esp_log.h"
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#include "esp_timer.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "oscillator.h"
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//-- Constants
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#define FORWARD 1
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#define BACKWARD -1
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#define LEFT 1
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#define RIGHT -1
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#define SMALL 5
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#define MEDIUM 15
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#define BIG 30
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// -- Servo delta limit default. degree / sec
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#define SERVO_LIMIT_DEFAULT 240
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// -- Servo indexes for easy access
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#define LEFT_FRONT_LEG 0
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#define LEFT_REAR_LEG 1
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#define RIGHT_FRONT_LEG 2
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#define RIGHT_REAR_LEG 3
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#define SERVO_COUNT 4
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class EDARobotDog {
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public:
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EDARobotDog();
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~EDARobotDog();
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//-- EDA Dog initialization
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void Init(int left_front_leg, int left_rear_leg, int right_front_leg, int right_rear_leg);
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//-- Attach & detach functions
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void AttachServos();
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void DetachServos();
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//-- Oscillator Trims
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void SetTrims(int left_front_leg, int left_rear_leg, int right_front_leg, int right_rear_leg);
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//-- Predetermined Motion Functions
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void MoveServos(int time, int servo_target[]);
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void MoveSingle(int position, int servo_number);
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void OscillateServos(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
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double phase_diff[SERVO_COUNT], float cycle);
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//-- HOME = Dog at rest position
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void Home();
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bool GetRestState();
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void SetRestState(bool state);
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//-- Basic leg movements
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void LiftLeftFrontLeg(int period = 1000, int height = 45); // 抬起左前腿
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void LiftLeftRearLeg(int period = 1000, int height = 45); // 抬起左后腿
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void LiftRightFrontLeg(int period = 1000, int height = 45); // 抬起右前腿
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void LiftRightRearLeg(int period = 1000, int height = 45); // 抬起右后腿
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//-- Dog gait movements
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void Walk(float steps = 4, int period = 1000, int dir = FORWARD);
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void Turn(float steps = 4, int period = 2000, int dir = LEFT);
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void Sit(int period = 1500);
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void Stand(int period = 1500);
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void Stretch(int period = 2000);
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void Shake(int period = 1000);
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void Sleep(); // 睡觉动作
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// -- Servo limiter
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void EnableServoLimit(int speed_limit_degree_per_sec = SERVO_LIMIT_DEFAULT);
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void DisableServoLimit();
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private:
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Oscillator servo_[SERVO_COUNT];
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int servo_pins_[SERVO_COUNT];
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int servo_trim_[SERVO_COUNT];
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unsigned long final_time_;
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unsigned long partial_time_;
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float increment_[SERVO_COUNT];
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bool is_dog_resting_;
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void Execute(int amplitude[SERVO_COUNT], int offset[SERVO_COUNT], int period,
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double phase_diff[SERVO_COUNT], float steps);
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};
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#endif // __EDA_DOG_MOVEMENTS_H__
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